Abstract: In order to provide a small, stereo camera with stable errors of distance measurement, there are provided: an image acquisition unit that acquires plural images imaged by plural imaging units; a first region processing unit that divides each of the plural images acquired by the image acquisition unit into first regions composed of predetermined plural pixels, and measures a distance for each of the divided first regions to generate a first distance image; a target object extraction unit that extracts a target object from the distance image or the image, and extracts a second region composed of the plural first regions including the extracted target object; an error factor identification unit that extracts a predetermined representative value from the inside of the second region, compares the brightness value of an arbitrary pixel in the second region with that in a correspondence region up to the position moved from the arbitrary pixel by a disparity represented by the representative value, and determines an

Abstract: An object detection system including multiple detecting means identifies other-vehicle information data acquired by using the multiple detecting means, determines whether or not the other-vehicle information data acquired by using the multiple detecting means 105 and 107 are of the same vehicle to output the other-vehicle information data that can be applied to various control applications when the other-vehicle information data determined to be of the same vehicle are switched, selects either of the multiple other-vehicle information data determined to be of the same vehicle according to the other-vehicle information detecting accuracies of the detecting means 105 and 107, and switches the selected other-vehicle information data to another other-vehicle information in a transition period based on the relative speed and the relative position from the other vehicle.

Abstract: In order to provide a stereoscopic camera apparatus capable of rapidly and accurately detecting a three-dimensional object even when the three-dimensional object abruptly appears in an angle of view, a stereoscopic camera apparatus 100 includes: three-dimensional object detecting means 105, 106, 107; to-be-covered object detecting means 108 for detecting a to-be-covered object having a known shape; and to-be-covered object covering-detecting means 109 and 110 for detecting whether or not the three-dimensional object detected by the three-dimensional object detecting means covers the to-be-covered object when the to-be-covered object is detected by the to-be-covered object detecting means 108.

Abstract: In order to be able to measure a distance with disparity resolution of a stereo camera or less and precisely measure a relative distance to a target even in the event of degradation of the imaging condition, a distance calculator includes a monocular distance calculation section 203, a stereo distance calculation section 204, a blurriness level calculation section 201, a distance estimation section 202, and an output distance calculation section 206. The monocular distance calculation section 203 calculates the distance to a target based on image information captured by a camera 101 or 102. The stereo distance calculation section 204 calculates the distance to the target based on image information captured by the two cameras 101 and 102. The blurriness level calculation section 201 calculates the blurriness level of the image information captured by the image information captured by the cameras 101 and 102.

Abstract: To provide an object detection device and an object detection method in which incorrect grouping based on a range image can be prevented, processing is implemented including: generating a range image based on a pair of gray-scaled images (S603); grouping adjacent regions having range data representing close distances in the range image (S604); calculating differences between the luminance values of pixels in a vertical line below a ground plane above which objects are imaged and the luminance values of pixels in a vertical line above the ground plane in the gray-scaled images and dividing the group region into laterally separated sub-regions (S605); and determining whether or not there is a section without vertical edge in either of the left and right areas of each of sub-regions made based on the gray-scaled images and merging sub-regions whose areas including a section without vertical edge are next to each other (S607).

Abstract: In order to provide a stereoscopic camera apparatus capable of rapidly and accurately detecting a three-dimensional object even when the three-dimensional object abruptly appears in an angle of view, a stereoscopic camera apparatus 100 includes: three-dimensional object detecting means 105, 106, 107; to-be-covered object detecting means 108 for detecting a to-be-covered object having a known shape; and to-be-covered object covering-detecting means 109 and 110 for detecting whether or not the three-dimensional object detected by the three-dimensional object detecting means covers the to-be-covered object when the to-be-covered object is detected by the to-be-covered object detecting means 108.

Abstract: Another detection device reduces the time needed for travel motion information about another vehicle obtained by an accurate detector device, and to continues supplement for the other vehicle in the event that detection is lost. All onboard controller is connected to a communication device as a first detector device for outputting the travel motion information about another vehicle, and a sensor as a second detector device. When the difference between first travel motion information from the first detection device and second travel motion information from the second detection device is equal to or less than a predetermined threshold value, and the period of continuous detection of the second travel motion information from the second detection device is equal to or greater than a predetermined threshold value, the controller determines the first travel motion information and the second travel motion information to be travel motion information for the same vehicle.

Abstract: To provide an object detection device and an object detection method in which incorrect grouping based on a range image can be prevented, processing is implemented including: generating a range image based on a pair of gray-scaled images (S603); grouping adjacent regions having range data representing close distances in the range image (S604); calculating differences between the luminance values of pixels in a vertical line below a ground plane above which objects are imaged and the luminance values of pixels in a vertical line above the ground plane in the gray-scaled images and dividing the group region into laterally separated sub-regions (S605); and determining whether or not there is a section without vertical edge in either of the left and right areas of each of sub-regions made based on the gray-scaled images and merging sub-regions whose areas including a section without vertical edge are next to each other (S607).

Abstract: In order to provide a small, stereo camera with stable errors of distance measurement, there are provided: an image acquisition unit that acquires plural images imaged by plural imaging units; a first region processing unit that divides each of the plural images acquired by the image acquisition unit into first regions composed of predetermined plural pixels, and measures a distance for each of the divided first regions to generate a first distance image; a target object extraction unit that extracts a target object from the distance image or the image, and extracts a second region composed of the plural first regions including the extracted target object; an error factor identification unit that extracts a predetermined representative value from the inside of the second region, compares the brightness value of an arbitrary pixel in the second region with that in a correspondence region up to the position moved from the arbitrary pixel by a disparity represented by the representative value, and determines an

Abstract: To obtain an image processing device and a method of processing an image that improve distance accuracy and is capable of performing accurate distance even about an object at a greater distance than before, when a distance to an object is measured, one image object region 302 including an image of an object is extracted from one image of a pair of images imaged by a pair of imaging elements at the same time in the same direction. The degree of background that is likelihood of whether either an object image configuration part 304 or a background image configuration part 303 is calculated for each of a plurality of image configuration parts that configures the one image object region 302. Then, the other image object region 503 having an image similar to the one image object region 302 is extracted from the other image 501 using the degree of background, and a parallax between the one image object region 302 and the other image object region 503 is calculated.

Abstract: An object detection system including multiple detecting means identifies other-vehicle information data acquired by using the multiple detecting means, determines whether or not the other-vehicle information data acquired by using the multiple detecting means 105 and 107 are of the same vehicle to output the other-vehicle information data that can be applied to various control applications when the other-vehicle information data determined to be of the same vehicle are switched, selects either of the multiple other-vehicle information data determined to be of the same vehicle according to the other-vehicle information detecting accuracies of the detecting means 105 and 107, and switches the selected other-vehicle information data to another other-vehicle information in a transition period based on the relative speed and the relative position from the other vehicle.

Abstract: In order to be able to measure a distance with disparity resolution of a stereo camera or less and precisely measure a relative distance to a target even in the event of degradation of the imaging condition, a distance calculator includes a monocular distance calculation section 203, a stereo distance calculation section 204, a blurriness level calculation section 201, a distance estimation section 202, and an output distance calculation section 206. The monocular distance calculation section 203 calculates the distance to a target based on image information captured by a camera 101 or 102. The stereo distance calculation section 204 calculates the distance to the target based on image information captured by the two cameras 101 and 102. The blurriness level calculation section 201 calculates the blurriness level of the image information captured by the image information captured by the cameras 101 and 102.

Abstract: A distance calculator includes a monocular estimated distance calculation section, a stereo estimated distance calculation section, and an output distance calculation section. The monocular estimated distance calculation section calculates the estimated distance to the target based on an image captured by a camera. The stereo estimated distance calculation section calculates the estimated distance to the target based on images captured by at least two cameras. The output distance calculation section calculates the distance to the target to be output. The output distance calculation section calculates the distance to be output based on weights of the estimated distances. The weights are determined in accordance with a confidence of the stereo estimated distance calculation section. The confidence is calculated based on the images captured by at least the two cameras.

Abstract: To obtain an image processing device and a method of processing an image that improve distance accuracy and is capable of performing accurate distance even about an object at a greater distance than before, when a distance to an object is measured, one image object region 302 including an image of an object is extracted from one image of a pair of images imaged by a pair of imaging elements at the same time in the same direction. The degree of background that is likelihood of whether either an object image configuration part 304 or a background image configuration part 303 is calculated for each of a plurality of image configuration parts that configures the one image object region 302. Then, the other image object region 503 having an image similar to the one image object region 302 is extracted from the other image 501 using the degree of background, and a parallax between the one image object region 302 and the other image object region 503 is calculated.

Abstract: Another detection device reduces the time needed for travel motion information about another vehicle obtained by an accurate detector device, and to continues supplement for the other vehicle in the event that detection is lost. All onboard controller is connected to a communication device as a first detector device for outputting the travel motion information about another vehicle, and a sensor as a second detector device. When the difference between first travel motion information from the first detection device and second travel motion information from the second detection device is equal to or less than a predetermined threshold value, and the period of continuous detection of the second travel motion information from the second detection device is equal to or greater than a predetermined threshold value, the controller determines the first travel motion information and the second travel motion information to be travel motion information for the same vehicle.

Abstract: A radar apparatus capable of determining the position of targets at a high accuracy even when plural objects of an identical relative velocity are present in a detection view field of the radar, using signal processing of obtaining an effect which is similar with that of virtually increasing the number of antennas along the moving direction of the radar by determining the change of intensity of reception signals using data in the past in which an identical antenna was positioned at a slightly different place (T1) and data at present (T1+?T) as a unit data set.

Abstract: A radar apparatus capable of determining the position of targets at a high accuracy even when plural objects of an identical relative velocity are present in a detection view field of the radar, using signal processing of obtaining an effect which is similar with that of virtually increasing the number of antennas along the moving direction of the radar by determining the change of intensity of reception signals using data in the past in which an identical antenna was positioned at a slightly different place (T1) and data at present (T1+?T) as a unit data set.